Research On Cooperative Flight And Control Of Multi-UAV

Increasingly complex battlefield environment,changing combat mode and variable manner of modern war asks for higher requirement of UAVs on carrying their tasks.The limited combat capability in single UAV is becoming gradually prominent,cooperative flight and control technology apply in Multi-UAV improved the efficiency of task,broaden the applications of UAV,and meet the reliability and safety of requirement for performing various missions.This article mainly focuses on the research of some key issues of control problem in Multi-quadrotor cooperative engagement:1.Assuming that formation cooperative issue under ideal communication conditions,takes the strategy of using a distributed network on Multi-UAV System.The Algebraic Graph and Matrices Theory is introduced to indicate the communication topology between UAVs.Based on Information Consensus Theory,a formation coordination strategy is proposed using quad-rotors positional and velocity information as variable.Consider the influence of communication delay,the consensus algorithm convergence and the convergence rate is discussed.Finally,the effectiveness of this algorithm is showed through the simulation results.2.During formation swarm and formation transformation,united collision avoidance algorithm is proposed based on Artificial Potential Field method and Consensus Algorithm.Considering the possible local minimum problem design an additional potential field method to solve it,and an improved united anti-collision formation control strategy is obtained.In the end,Simulation results show the effectiveness of the united algorithm.3.The control of the existing quad-rotor UAV are based on the classical control theory to design the linear controller.In this paper,we established the nonlinear dynamics model of quad-rotor UAV,considering that the situation of internal uncertainties and external disturbances in the system,a nonlinear disturbance observer is used for estimating the disturbance.By Backstepping-approach,strong robustness controller is developed for trajectory track,the ideal trajectory of UAV produced by consensus algorithm and the anticollision algorithm.And its stability is proved based on the Lyapunov stability theory.